多智能体网络系统的群体行为研究
发布时间：2018-08-05 13:09
【摘要】：多智能体网络系统的群体行为研究是近年来复杂系统研究的一个热点,吸引着来自计算机科学、智能控制、网络通讯、数学、社会科学等各个领域的专家学者广泛关注。这主要是由于多智能体网络系统的群体行为研究在无人机协调控制、多机器人编队控制、分布式传感器网络、人造卫星群位姿调整及通信网络拥塞控制等领域的广泛应用。本文是在前人研究成果基础上,利用图论、矩阵分析和控制系统等工具,研究具有非线性性质的多智能体网络系统的群体行为。本文的主要内容如下:1.本文研究了一类带有非线性性质,而且网络通讯带有时滞与非时滞的多智能体系统的稳定性分析。在满足适当条件下,具有无向通信网络和无时滞的多智能体系统中的多智能体将逐渐聚集并形成有限大小的有界区域。相比较现有的文献,我们将吸引力/排斥力函数推广到具有某些非线性性质的一类函数,从而揭示了多智能体网络系统内部更丰富的自组织动力学行为。2.研究了受外源影响的一类具有非线性性质的多智能体系统在时滞和非时滞两种情况下的协调控制问题。对时滞和非时滞两种情况下受外源影响的对称系统,证明了在满足适当假设条件的源的作用下的系统的多智能体将逐渐形成有限大小的聚集簇并且估计了有界区域的大小。进而,在二次型与高斯型的外源下,证明了系统所有多智能体沿着系统中心运动或远离源的极值。对一般非对称系统网络,仿真例子还表明带常时滞具有一般非线性性质的系统因不同的邻接矩阵和时滞而表现出回旋振荡或发散的行为。3.研究了带领航者的受外源影响的多智能体系统在时滞和非时滞两种情况下的协调控制问题。对于带领航者的无时滞的受外源影响的多智能体系统,满足适当假设条件时,在领航者智能体的导航作用下,多智能体系统的跟随者在没有外源信息的情况下也能准确地到达目标或远离目标。当多智能体系统在不同外源的条件下聚集时我们估计了有界区域的大小,有界区域的大小取决于外源和吸引排斥函数等的参数值的大小。而对带领航者的时滞的受外源影响的多智能体系统,也得到类似相应的结论,我们给出的一些数值仿真也证明了理论结果的正确性。
[Abstract]:The research on group behavior of multi-agent network system is a hotspot of complex system research in recent years, which attracts the attention of experts and scholars from computer science, intelligent control, network communication, mathematics, social science and other fields. This is mainly due to the extensive application of swarm behavior research in UAV coordination control, multi-robot formation control, distributed sensor networks, satellite pose adjustment and communication network congestion control. Based on the previous research results, this paper studies the group behavior of multi-agent network systems with nonlinear properties by means of graph theory, matrix analysis and control system. The main contents of this paper are as follows: 1. In this paper, the stability analysis of a class of multi-agent systems with nonlinear properties and network communication with and without delay is studied. Under suitable conditions, the multi-agent in the multi-agent system with undirected communication network and without delay will gradually gather and form a bounded region with limited size. Compared with the existing literatures, we generalize the attraction / repulsion function to a class of functions with some nonlinear properties, thus revealing the richer self-organizing dynamical behavior of the multi-agent network system. The problem of coordinated control for a class of nonlinear multi-agent systems with and without delay is studied. For symmetric systems with time delay and no delay, it is proved that the multi-agent of the system under the action of the source satisfying the proper assumption condition will gradually form a finite cluster and estimate the size of the bounded region. Furthermore, under the exogenous conditions of quadratic type and Gao Si type, it is proved that all multi-agents of the system move along the center of the system or away from the extreme value of the source. For general asymmetric system networks, simulation examples also show that systems with constant delays have general nonlinear properties and exhibit cyclotron oscillation or divergence behavior due to different adjacent matrices and delays. In this paper, the coordinated control problem of a multi-agent system with a pilot under both time-delay and non-time-delay is studied. For a multi-agent system with no delay and no delay, when the appropriate assumptions are satisfied, under the guidance of the navigator agent, The follower of multi-agent system can reach or leave the target accurately without external information. When the multi-agent system aggregates under different exogenous conditions, we estimate the size of the bounded region, and the size of the bounded region depends on the size of the parameter values of the exogenous and attractive rejection functions. A similar conclusion is obtained for the multi-agent system with the delay of the pilot. Some numerical simulations are given to prove the correctness of the theoretical results.
【学位授予单位】：上海大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP18
本文编号：2165893
[Abstract]:The research on group behavior of multi-agent network system is a hotspot of complex system research in recent years, which attracts the attention of experts and scholars from computer science, intelligent control, network communication, mathematics, social science and other fields. This is mainly due to the extensive application of swarm behavior research in UAV coordination control, multi-robot formation control, distributed sensor networks, satellite pose adjustment and communication network congestion control. Based on the previous research results, this paper studies the group behavior of multi-agent network systems with nonlinear properties by means of graph theory, matrix analysis and control system. The main contents of this paper are as follows: 1. In this paper, the stability analysis of a class of multi-agent systems with nonlinear properties and network communication with and without delay is studied. Under suitable conditions, the multi-agent in the multi-agent system with undirected communication network and without delay will gradually gather and form a bounded region with limited size. Compared with the existing literatures, we generalize the attraction / repulsion function to a class of functions with some nonlinear properties, thus revealing the richer self-organizing dynamical behavior of the multi-agent network system. The problem of coordinated control for a class of nonlinear multi-agent systems with and without delay is studied. For symmetric systems with time delay and no delay, it is proved that the multi-agent of the system under the action of the source satisfying the proper assumption condition will gradually form a finite cluster and estimate the size of the bounded region. Furthermore, under the exogenous conditions of quadratic type and Gao Si type, it is proved that all multi-agents of the system move along the center of the system or away from the extreme value of the source. For general asymmetric system networks, simulation examples also show that systems with constant delays have general nonlinear properties and exhibit cyclotron oscillation or divergence behavior due to different adjacent matrices and delays. In this paper, the coordinated control problem of a multi-agent system with a pilot under both time-delay and non-time-delay is studied. For a multi-agent system with no delay and no delay, when the appropriate assumptions are satisfied, under the guidance of the navigator agent, The follower of multi-agent system can reach or leave the target accurately without external information. When the multi-agent system aggregates under different exogenous conditions, we estimate the size of the bounded region, and the size of the bounded region depends on the size of the parameter values of the exogenous and attractive rejection functions. A similar conclusion is obtained for the multi-agent system with the delay of the pilot. Some numerical simulations are given to prove the correctness of the theoretical results.
【学位授予单位】：上海大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TP18
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